292 lines
8.4 KiB
C++
292 lines
8.4 KiB
C++
//under visual studio the #define in KX_ConvertPhysicsObject.h is quicker for recompilation
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#include "KX_ConvertPhysicsObject.h"
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#ifdef USE_BULLET
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#include "KX_BulletPhysicsController.h"
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#include "btBulletDynamicsCommon.h"
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#include "SG_Spatial.h"
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#include "KX_GameObject.h"
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#include "KX_MotionState.h"
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#include "KX_ClientObjectInfo.h"
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#include "PHY_IPhysicsEnvironment.h"
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#include "CcdPhysicsEnvironment.h"
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KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna)
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: KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this),
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CcdPhysicsController(ci),
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m_savedCollisionFlags(0)
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{
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}
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KX_BulletPhysicsController::~KX_BulletPhysicsController ()
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{
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// The game object has a direct link to
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if (m_pObject)
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{
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// If we cheat in SetObject, we must also cheat here otherwise the
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// object will still things it has a physical controller
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// Note that it requires that m_pObject is reset in case the object is deleted
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// before the controller (usual case, see KX_Scene::RemoveNodeDestructObjec)
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// The non usual case is when the object is not deleted because its reference is hanging
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// in a AddObject actuator but the node is deleted. This case is covered here.
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KX_GameObject* gameobj = (KX_GameObject*) m_pObject->GetSGClientObject();
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gameobj->SetPhysicsController(NULL,false);
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}
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}
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void KX_BulletPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
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{
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CcdPhysicsController::resolveCombinedVelocities(linvelX,linvelY,linvelZ,angVelX,angVelY,angVelZ);
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}
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///////////////////////////////////
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// KX_IPhysicsController interface
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////////////////////////////////////
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void KX_BulletPhysicsController::applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)
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{
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CcdPhysicsController::applyImpulse(attach[0],attach[1],attach[2],impulse[0],impulse[1],impulse[2]);
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}
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void KX_BulletPhysicsController::SetObject (SG_IObject* object)
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{
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SG_Controller::SetObject(object);
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// cheating here...
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//should not be necessary, is it for duplicates ?
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KX_GameObject* gameobj = (KX_GameObject*) object->GetSGClientObject();
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gameobj->SetPhysicsController(this,gameobj->IsDynamic());
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CcdPhysicsController::setNewClientInfo(gameobj->getClientInfo());
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}
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void KX_BulletPhysicsController::setMargin (float collisionMargin)
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{
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CcdPhysicsController::SetMargin(collisionMargin);
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}
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void KX_BulletPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
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{
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CcdPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);
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}
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void KX_BulletPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local)
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{
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float rotval[12];
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drot.getValue(rotval);
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CcdPhysicsController::RelativeRotate(rotval,local);
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}
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void KX_BulletPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
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{
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CcdPhysicsController::ApplyTorque(torque.x(),torque.y(),torque.z(),local);
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}
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void KX_BulletPhysicsController::ApplyForce(const MT_Vector3& force,bool local)
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{
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CcdPhysicsController::ApplyForce(force.x(),force.y(),force.z(),local);
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}
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MT_Vector3 KX_BulletPhysicsController::GetLinearVelocity()
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{
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float angVel[3];
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//CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
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CcdPhysicsController::GetLinearVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz
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return MT_Vector3(angVel[0],angVel[1],angVel[2]);
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}
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MT_Vector3 KX_BulletPhysicsController::GetAngularVelocity()
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{
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float angVel[3];
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//CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
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CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz
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return MT_Vector3(angVel[0],angVel[1],angVel[2]);
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}
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MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos)
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{
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float linVel[3];
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CcdPhysicsController::GetLinearVelocity(linVel[0],linVel[1],linVel[2]);
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return MT_Vector3(linVel[0],linVel[1],linVel[2]);
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}
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void KX_BulletPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
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{
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CcdPhysicsController::SetAngularVelocity(ang_vel.x(),ang_vel.y(),ang_vel.z(),local);
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}
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void KX_BulletPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
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{
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CcdPhysicsController::SetLinearVelocity(lin_vel.x(),lin_vel.y(),lin_vel.z(),local);
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}
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void KX_BulletPhysicsController::getOrientation(MT_Quaternion& orn)
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{
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float myorn[4];
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CcdPhysicsController::getOrientation(myorn[0],myorn[1],myorn[2],myorn[3]);
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orn = MT_Quaternion(myorn[0],myorn[1],myorn[2],myorn[3]);
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}
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void KX_BulletPhysicsController::setOrientation(const MT_Quaternion& orn)
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{
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CcdPhysicsController::setOrientation(orn.x(),orn.y(),orn.z(),orn.w());
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}
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void KX_BulletPhysicsController::setPosition(const MT_Point3& pos)
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{
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CcdPhysicsController::setPosition(pos.x(),pos.y(),pos.z());
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}
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void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling)
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{
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CcdPhysicsController::setScaling(scaling.x(),scaling.y(),scaling.z());
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}
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MT_Scalar KX_BulletPhysicsController::GetMass()
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{
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MT_Scalar invmass = GetRigidBody()->getInvMass();
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if (invmass)
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return 1.f/invmass;
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return 0.f;
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}
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MT_Vector3 KX_BulletPhysicsController::getReactionForce()
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{
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assert(0);
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return MT_Vector3(0.f,0.f,0.f);
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}
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void KX_BulletPhysicsController::setRigidBody(bool rigid)
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{
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}
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void KX_BulletPhysicsController::SuspendDynamics(bool ghost)
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{
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btRigidBody *body = GetRigidBody();
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if (body->getActivationState() != DISABLE_SIMULATION)
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{
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btBroadphaseProxy* handle = body->getBroadphaseHandle();
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m_savedCollisionFlags = body->getCollisionFlags();
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m_savedMass = GetMass();
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m_savedCollisionFilterGroup = handle->m_collisionFilterGroup;
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m_savedCollisionFilterMask = handle->m_collisionFilterMask;
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body->setActivationState(DISABLE_SIMULATION);
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GetPhysicsEnvironment()->updateCcdPhysicsController(this,
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0.0,
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btCollisionObject::CF_STATIC_OBJECT|((ghost)?btCollisionObject::CF_NO_CONTACT_RESPONSE:(m_savedCollisionFlags&btCollisionObject::CF_NO_CONTACT_RESPONSE)),
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btBroadphaseProxy::StaticFilter,
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btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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}
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}
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void KX_BulletPhysicsController::RestoreDynamics()
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{
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btRigidBody *body = GetRigidBody();
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if (body->getActivationState() == DISABLE_SIMULATION)
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{
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GetPhysicsEnvironment()->updateCcdPhysicsController(this,
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m_savedMass,
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m_savedCollisionFlags,
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m_savedCollisionFilterGroup,
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m_savedCollisionFilterMask);
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GetRigidBody()->forceActivationState(ACTIVE_TAG);
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}
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}
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SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
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{
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PHY_IMotionState* motionstate = new KX_MotionState(destnode);
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KX_BulletPhysicsController* physicsreplica = new KX_BulletPhysicsController(*this);
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//parentcontroller is here be able to avoid collisions between parent/child
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PHY_IPhysicsController* parentctrl = NULL;
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if (destnode != destnode->GetRootSGParent())
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{
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KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject();
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if (clientgameobj)
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{
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parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
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} else
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{
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// it could be a false node, try the children
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NodeList::const_iterator childit;
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for (
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childit = destnode->GetSGChildren().begin();
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childit!= destnode->GetSGChildren().end();
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++childit
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) {
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KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
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if (clientgameobj)
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{
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parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
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}
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}
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}
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}
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physicsreplica->PostProcessReplica(motionstate,parentctrl);
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physicsreplica->m_userdata = (PHY_IPhysicsController*)physicsreplica;
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return physicsreplica;
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}
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void KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly)
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{
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GetRigidBody()->activate(true);
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if (!m_bDyna)
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{
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GetRigidBody()->setCollisionFlags(GetRigidBody()->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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} else
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{
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if (!nondynaonly)
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{
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btTransform worldTrans;
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GetRigidBody()->getMotionState()->getWorldTransform(worldTrans);
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GetRigidBody()->setCenterOfMassTransform(worldTrans);
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/*
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scaling?
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if (m_bDyna)
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{
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m_sumoObj->setScaling(MT_Vector3(1,1,1));
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} else
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{
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MT_Vector3 scale;
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GetWorldScaling(scale);
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m_sumoObj->setScaling(scale);
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}
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*/
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}
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}
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}
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// todo: remove next line !
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void KX_BulletPhysicsController::SetSimulatedTime(double time)
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{
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}
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// call from scene graph to update
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bool KX_BulletPhysicsController::Update(double time)
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{
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return false;
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// todo: check this code
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//if (GetMass())
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//{
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// return false;//true;
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// }
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// return false;
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}
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#endif //#ifdef USE_BULLET
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